From e7edad5ebbb7b14ac581b5fe01933a4c8e3db960 Mon Sep 17 00:00:00 2001
From: sebcrozet <developer@crozet.re>
Date: Thu, 20 Sep 2018 14:23:31 +0200
Subject: [PATCH] Start actually implementing the GLM functions.

---
 nalgebra-glm/Cargo.toml                       |   1 +
 nalgebra-glm/src/common.rs                    |  52 ++++----
 nalgebra-glm/src/exponential.rs               |  33 ++---
 nalgebra-glm/src/ext_matrix_relationnal.rs    |  52 +++++---
 nalgebra-glm/src/ext_matrix_transform.rs      |  33 ++---
 nalgebra-glm/src/ext_quaternion_common.rs     |  34 +++---
 nalgebra-glm/src/ext_quaternion_geometric.rs  |   8 +-
 nalgebra-glm/src/ext_quaternion_relational.rs |  24 +++-
 nalgebra-glm/src/ext_quaternion_transform.rs  |  14 ++-
 .../src/ext_quaternion_trigonometric.rs       |  14 ++-
 nalgebra-glm/src/ext_scalar_constants.rs      |  11 +-
 nalgebra-glm/src/ext_vector_common.rs         |  56 +++------
 nalgebra-glm/src/ext_vector_relational.rs     |  20 ++--
 nalgebra-glm/src/geometric.rs                 |  40 +++++--
 nalgebra-glm/src/gtc_bitfield.rs              |  14 +--
 nalgebra-glm/src/gtc_constants.rs             | 113 +++++++++---------
 nalgebra-glm/src/gtc_epsilon.rs               |  21 ++--
 nalgebra-glm/src/gtc_integer.rs               |   8 +-
 nalgebra-glm/src/gtc_matrix_access.rs         |  24 ++--
 nalgebra-glm/src/gtc_matrix_inverse.rs        |  13 +-
 nalgebra-glm/src/gtc_packing.rs               |  16 +--
 nalgebra-glm/src/gtc_quaternion.rs            |  71 ++++++-----
 nalgebra-glm/src/gtc_round.rs                 |  22 ++--
 nalgebra-glm/src/gtc_type_ptr.rs              |  91 +++++++-------
 nalgebra-glm/src/integer.rs                   |  24 ++--
 nalgebra-glm/src/lib.rs                       |   5 +
 nalgebra-glm/src/matrix.rs                    |  21 ++--
 nalgebra-glm/src/traits.rs                    |  24 ++--
 nalgebra-glm/src/trigonometric.rs             |  42 ++++---
 nalgebra-glm/src/vector_relational.rs         |  22 ++--
 30 files changed, 510 insertions(+), 413 deletions(-)

diff --git a/nalgebra-glm/Cargo.toml b/nalgebra-glm/Cargo.toml
index 1c8d0a4c..07ba7478 100644
--- a/nalgebra-glm/Cargo.toml
+++ b/nalgebra-glm/Cargo.toml
@@ -5,5 +5,6 @@ authors = ["sebcrozet <developer@crozet.re>"]
 
 [dependencies]
 num-traits = { version = "0.2", default-features = false }
+approx = { version = "0.3", default-features = false }
 alga = "0.7"
 nalgebra = { path =  ".." }
\ No newline at end of file
diff --git a/nalgebra-glm/src/common.rs b/nalgebra-glm/src/common.rs
index 79fcd9ab..35ed1d58 100644
--- a/nalgebra-glm/src/common.rs
+++ b/nalgebra-glm/src/common.rs
@@ -1,7 +1,7 @@
-use na::{Scalar, DimName, DefaultAllocator};
+use na::{Scalar, DefaultAllocator};
 
 use aliases::Vec;
-use traits::Alloc;
+use traits::{Dimension, Alloc};
 
 
 pub fn abs<T>(x: T) -> T {
@@ -9,13 +9,13 @@ pub fn abs<T>(x: T) -> T {
 
 }
 
-pub fn abs2<N: Scalar, D: DimName>(x: &Vec<N, D>) -> Vec<N, D>
+pub fn abs2<N: Scalar, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
         unimplemented!()
 
 }
 
-pub fn ceil<N: Scalar, D: DimName>(x: &Vec<N, D>) -> Vec<N, D>
+pub fn ceil<N: Scalar, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
         unimplemented!()
 
@@ -26,13 +26,13 @@ pub fn clamp<T>(x: T, minVal: T, maxVal: T) -> T {
 
 }
 
-pub fn clamp2<N: Scalar, D: DimName>(x: &Vec<N, D>,minVal: N, maxVal: N) -> Vec<N, D>
+pub fn clamp2<N: Scalar, D: Dimension>(x: &Vec<N, D>,minVal: N, maxVal: N) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
         unimplemented!()
 
 }
 
-pub fn clamp3<N: Scalar, D: DimName>(x: &Vec<N, D>, minVal: &Vec<N, D>, maxVal: &Vec<N, D>) -> Vec<N, D>
+pub fn clamp3<N: Scalar, D: Dimension>(x: &Vec<N, D>, minVal: &Vec<N, D>, maxVal: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
         unimplemented!()
 
@@ -43,7 +43,7 @@ pub fn floatBitsToInt(v: f32) -> i32 {
 
 }
 
-pub fn floatBitsToInt2<D: DimName>(v: Vec<f32, D>) -> Vec<i32, D>
+pub fn floatBitsToInt2<D: Dimension>(v: Vec<f32, D>) -> Vec<i32, D>
     where DefaultAllocator: Alloc<f32, D> {
     unimplemented!()
 
@@ -54,12 +54,12 @@ pub fn floatBitsToUint(v: f32) -> u32 {
 
 }
 
-pub fn floatBitsToUint2<D: DimName>(v: &Vec<f32, D>) -> Vec<u32, D>
+pub fn floatBitsToUint2<D: Dimension>(v: &Vec<f32, D>) -> Vec<u32, D>
     where DefaultAllocator: Alloc<f32, D> {
         unimplemented!()
 
 }
-pub fn floor<N: Scalar, D: DimName>(x: &Vec<N, D>) -> Vec<N, D>
+pub fn floor<N: Scalar, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
         unimplemented!()
 
@@ -74,7 +74,7 @@ pub fn fract<T>(x: T) -> T {
 
 }
 
-pub fn fract2<N: Scalar, D: DimName>(x: &Vec<N, D>) -> Vec<N, D>
+pub fn fract2<N: Scalar, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
         unimplemented!()
 
@@ -85,24 +85,24 @@ pub fn frexp<T, I>(x: T, exp: I) -> T {
 
 }
 
-pub fn intBitsToFloat<N: Scalar, D: DimName>(v: i32) -> f32 {
+pub fn intBitsToFloat<N: Scalar, D: Dimension>(v: i32) -> f32 {
     unimplemented!()
 
 }
 
-pub fn intBitsToFloat2<D: DimName>(v: &Vec<u32, D>) -> Vec<f32, D>
+pub fn intBitsToFloat2<D: Dimension>(v: &Vec<u32, D>) -> Vec<f32, D>
     where DefaultAllocator: Alloc<f32, D> {
         unimplemented!()
 
 }
 
-pub fn isinf<N: Scalar, D: DimName>(x: &Vec<N, D>) -> Vec<bool, D>
+pub fn isinf<N: Scalar, D: Dimension>(x: &Vec<N, D>) -> Vec<bool, D>
     where DefaultAllocator: Alloc<N, D> {
         unimplemented!()
 
 }
 
-pub fn isnan<N: Scalar, D: DimName>(x: &Vec<N, D>) -> Vec<bool, D>
+pub fn isnan<N: Scalar, D: Dimension>(x: &Vec<N, D>) -> Vec<bool, D>
     where DefaultAllocator: Alloc<N, D> {
         unimplemented!()
 
@@ -118,12 +118,12 @@ pub fn max<T>(x: T, y: T) -> T {
 
 }
 
-pub fn max2<N: Scalar, D: DimName>(x: &Vec<N, D>,y: N) -> Vec<N, D>
+pub fn max2<N: Scalar, D: Dimension>(x: &Vec<N, D>,y: N) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
         unimplemented!()
 
 }
-pub fn max3<N: Scalar, D: DimName>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<N, D>
+pub fn max3<N: Scalar, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
         unimplemented!()
 
@@ -133,12 +133,12 @@ pub fn min<T>(x: T, y: T) -> T {
 
 }
 
-pub fn min2<N: Scalar, D: DimName>(x: &Vec<N, D>,y: N) -> Vec<N, D>
+pub fn min2<N: Scalar, D: Dimension>(x: &Vec<N, D>,y: N) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
         unimplemented!()
 
 }
-pub fn min3<N: Scalar, D: DimName>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<N, D>
+pub fn min3<N: Scalar, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
         unimplemented!()
 
@@ -148,7 +148,7 @@ pub fn mix<T>(x: T, y: T, a: T) -> T {
 
 }
 
-pub fn mod_<N: Scalar, D: DimName>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<N, D>
+pub fn mod_<N: Scalar, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 
@@ -158,17 +158,17 @@ pub fn modf<T>(x: T, i: &T) -> T {
 
 }
 
-pub fn round<N: Scalar, D: DimName>(x: &Vec<N, D>) -> Vec<N, D>
+pub fn round<N: Scalar, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
         unimplemented!()
 
 }
-pub fn roundEven<N: Scalar, D: DimName>(x: &Vec<N, D>) -> Vec<N, D>
+pub fn roundEven<N: Scalar, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
         unimplemented!()
 
 }
-pub fn sign<N: Scalar, D: DimName>(x: &Vec<N, D>) -> Vec<N, D>
+pub fn sign<N: Scalar, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
         unimplemented!()
 
@@ -184,17 +184,17 @@ pub fn step<T>(edge: T, x: T) -> T {
 
 }
 
-pub fn step2<N: Scalar, D: DimName>(edge: N, x: &Vec<N, D>) -> Vec<N, D>
+pub fn step2<N: Scalar, D: Dimension>(edge: N, x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
         unimplemented!()
 
 }
-pub fn step3<N: Scalar, D: DimName>(edge: &Vec<N, D>, x: &Vec<N, D>) -> Vec<N, D>
+pub fn step3<N: Scalar, D: Dimension>(edge: &Vec<N, D>, x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
         unimplemented!()
 
 }
-pub fn trunc<N: Scalar, D: DimName>(x: &Vec<N, D>) -> Vec<N, D>
+pub fn trunc<N: Scalar, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
         unimplemented!()
 
@@ -203,7 +203,7 @@ pub fn uintBitsToFloat(v: u32) -> f32 {
     unimplemented!()
 
 }
-pub fn uintBitsToFloat2<D: DimName>(v: &Vec<u32, D>) -> Vec<f32, D>
+pub fn uintBitsToFloat2<D: Dimension>(v: &Vec<u32, D>) -> Vec<f32, D>
     where DefaultAllocator: Alloc<f32, D> {
     unimplemented!()
 }
\ No newline at end of file
diff --git a/nalgebra-glm/src/exponential.rs b/nalgebra-glm/src/exponential.rs
index 296ee533..08fe8f32 100644
--- a/nalgebra-glm/src/exponential.rs
+++ b/nalgebra-glm/src/exponential.rs
@@ -1,39 +1,40 @@
-use na::{Real, DefaultAllocator, DimName};
+use na::{Real, DefaultAllocator};
 use aliases::Vec;
-use traits::Alloc;
+use traits::{Alloc, Dimension};
 
 
-pub fn exp<N: Real, D: DimName>(v: &Vec<N, D>) -> Vec<N, D>
+pub fn exp<N: Real, D: Dimension>(v: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
+    v.map(|x| x.exp())
 }
 
-pub fn exp2<N: Real, D: DimName>(v: &Vec<N, D>) -> Vec<N, D>
+pub fn exp2<N: Real, D: Dimension>(v: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
+    v.map(|x| x.exp2())
 }
 
-pub fn inversesqrt<N: Real, D: DimName>(v: &Vec<N, D>) -> Vec<N, D>
+pub fn inversesqrt<N: Real, D: Dimension>(v: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
+    v.map(|x| N::one() / x.sqrt())
+
 }
 
-pub fn log<N: Real, D: DimName>(v: &Vec<N, D>) -> Vec<N, D>
+pub fn log<N: Real, D: Dimension>(v: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
+    v.map(|x| x.ln())
 }
 
-pub fn log2<N: Real, D: DimName>(v: &Vec<N, D>) -> Vec<N, D>
+pub fn log2<N: Real, D: Dimension>(v: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
+    v.map(|x| x.log2())
 }
 
-pub fn pow<N: Real, D: DimName>(base: &Vec<N, D>, exponent: &Vec<N, D>)
+pub fn pow<N: Real, D: Dimension>(base: &Vec<N, D>, exponent: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
+    base.zip_map(exponent, |b, e| b.powf(e))
 }
 
-pub fn sqrt<N: Real, D: DimName>(v: &Vec<N, D>) -> Vec<N, D>
+pub fn sqrt<N: Real, D: Dimension>(v: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
+    v.map(|x| x.sqrt())
 }
diff --git a/nalgebra-glm/src/ext_matrix_relationnal.rs b/nalgebra-glm/src/ext_matrix_relationnal.rs
index 06256e85..21ab54ec 100644
--- a/nalgebra-glm/src/ext_matrix_relationnal.rs
+++ b/nalgebra-glm/src/ext_matrix_relationnal.rs
@@ -1,35 +1,59 @@
-use na::{Scalar, DimName, DefaultAllocator};
+use na::DefaultAllocator;
 
 use aliases::{Vec, Mat};
-use traits::Alloc;
+use traits::{Alloc, Number, Dimension};
 
 
-pub fn equal<N: Scalar, R: DimName, C: DimName>(x: &Mat<N, R, C>, y: &Mat<N, R, C>) -> Vec<bool, C>
+pub fn equal<N: Number, R: Dimension, C: Dimension>(x: &Mat<N, R, C>, y: &Mat<N, R, C>) -> Vec<bool, C>
     where DefaultAllocator: Alloc<N, R, C> {
-    unimplemented!()
+    let mut res = Vec::<_, C>::repeat(false);
+
+    for i in 0..C::dim() {
+        res[i] = x.column(i) == y.column(i)
+    }
+
+    res
 }
 
-pub fn equal_eps<N: Scalar, R: DimName, C: DimName>(x: &Mat<N, R, C>, y: &Mat<N, R, C>,epsilon: N) -> Vec<bool, C>
+pub fn equal_eps<N: Number, R: Dimension, C: Dimension>(x: &Mat<N, R, C>, y: &Mat<N, R, C>, epsilon: N) -> Vec<bool, C>
     where DefaultAllocator: Alloc<N, R, C> {
-    unimplemented!()
+    equal_eps_vec(x, y, &Vec::<_, C>::repeat(epsilon))
 }
 
-pub fn equal_eps_vec<N: Scalar, R: DimName, C: DimName>(x: &Mat<N, R, C>, y: &Mat<N, R, C>, epsilon: &Vec<N, C>) -> Vec<bool, C>
+pub fn equal_eps_vec<N: Number, R: Dimension, C: Dimension>(x: &Mat<N, R, C>, y: &Mat<N, R, C>, epsilon: &Vec<N, C>) -> Vec<bool, C>
     where DefaultAllocator: Alloc<N, R, C> {
-    unimplemented!()
+    let mut res = Vec::<_, C>::repeat(false);
+
+    for i in 0..C::dim() {
+        res[i] = (x.column(i) - y.column(i)).abs() < Vec::<_, R>::repeat(epsilon[i])
+    }
+
+    res
 }
 
-pub fn not_equal<N: Scalar, R: DimName, C: DimName>(x: &Mat<N, R, C>, y: &Mat<N, R, C>) -> Vec<bool, C>
+pub fn not_equal<N: Number, R: Dimension, C: Dimension>(x: &Mat<N, R, C>, y: &Mat<N, R, C>) -> Vec<bool, C>
     where DefaultAllocator: Alloc<N, R, C> {
-    unimplemented!()
+    let mut res = Vec::<_, C>::repeat(false);
+
+    for i in 0..C::dim() {
+        res[i] = x.column(i) != y.column(i)
+    }
+
+    res
 }
 
-pub fn not_equal_eps<N: Scalar, R: DimName, C: DimName>(x: &Mat<N, R, C>, y: &Mat<N, R, C>,epsilon: N) -> Vec<bool, C>
+pub fn not_equal_eps<N: Number, R: Dimension, C: Dimension>(x: &Mat<N, R, C>, y: &Mat<N, R, C>, epsilon: N) -> Vec<bool, C>
     where DefaultAllocator: Alloc<N, R, C> {
-    unimplemented!()
+    not_equal_eps_vec(x, y, &Vec::<_, C>::repeat(epsilon))
 }
 
-pub fn not_equal_eps_vec<N: Scalar, R: DimName, C: DimName>(x: &Mat<N, R, C>, y: &Mat<N, R, C>, epsilon: &Vec<N, C>) -> Vec<bool, C>
+pub fn not_equal_eps_vec<N: Number, R: Dimension, C: Dimension>(x: &Mat<N, R, C>, y: &Mat<N, R, C>, epsilon: &Vec<N, C>) -> Vec<bool, C>
     where DefaultAllocator: Alloc<N, R, C> {
-    unimplemented!()
+    let mut res = Vec::<_, C>::repeat(false);
+
+    for i in 0..C::dim() {
+        res[i] = (x.column(i) - y.column(i)).abs() >= Vec::<_, R>::repeat(epsilon[i])
+    }
+
+    res
 }
diff --git a/nalgebra-glm/src/ext_matrix_transform.rs b/nalgebra-glm/src/ext_matrix_transform.rs
index 1e55e0c6..a9d210a5 100644
--- a/nalgebra-glm/src/ext_matrix_transform.rs
+++ b/nalgebra-glm/src/ext_matrix_transform.rs
@@ -1,31 +1,34 @@
-use na::{Scalar, U3, U4};
+use na::{DefaultAllocator, Scalar, Real, U3, U4, Unit, Rotation3, Point3};
 
+use traits::{Dimension, Number, Alloc};
 use aliases::{Mat, Vec};
 
-pub fn identity<T>() -> T {
-    unimplemented!()
+pub fn identity<N: Number, D: Dimension>() -> Mat<N, D, D>
+    where DefaultAllocator: Alloc<N, D, D> {
+    Mat::<N, D, D>::identity()
 }
 
-pub fn lookAt<N: Scalar>(eye: &Vec<N, U3>, center: &Vec<N, U3>, up: &Vec<N, U3>) -> Mat<N, U4, U4> {
-    unimplemented!()
+/// Same as `look_at_rh`
+pub fn look_at<N: Real>(eye: &Vec<N, U3>, center: &Vec<N, U3>, up: &Vec<N, U3>) -> Mat<N, U4, U4> {
+    look_at_rh(eye, center, up)
 }
 
-pub fn lookAtLH<N: Scalar>(eye: &Vec<N, U3>, center: &Vec<N, U3>, up: &Vec<N, U3>) -> Mat<N, U4, U4> {
-    unimplemented!()
+pub fn look_at_lh<N: Real>(eye: &Vec<N, U3>, center: &Vec<N, U3>, up: &Vec<N, U3>) -> Mat<N, U4, U4> {
+    Mat::look_at_lh(&Point3::from_coordinates(*eye), &Point3::from_coordinates(*center), up)
 }
 
-pub fn lookAtRH<N: Scalar>(eye: &Vec<N, U3>, center: &Vec<N, U3>, up: &Vec<N, U3>) -> Mat<N, U4, U4> {
-    unimplemented!()
+pub fn look_at_rh<N: Real>(eye: &Vec<N, U3>, center: &Vec<N, U3>, up: &Vec<N, U3>) -> Mat<N, U4, U4> {
+    Mat::look_at_rh(&Point3::from_coordinates(*eye), &Point3::from_coordinates(*center), up)
 }
 
-pub fn rotate<N: Scalar>(m: &Mat<N, U4, U4>,angle: N, axis: &Vec<N, U3>) -> Mat<N, U4, U4> {
-    unimplemented!()
+pub fn rotate<N: Real>(m: &Mat<N, U4, U4>, angle: N, axis: &Vec<N, U3>) -> Mat<N, U4, U4> {
+    m * Rotation3::from_axis_angle(&Unit::new_normalize(*axis), angle).to_homogeneous()
 }
 
-pub fn scale<N: Scalar>(m: &Mat<N, U4, U4>, v: &Vec<N, U3>) -> Mat<N, U4, U4> {
-    unimplemented!()
+pub fn scale<N: Number>(m: &Mat<N, U4, U4>, v: &Vec<N, U3>) -> Mat<N, U4, U4> {
+    m.append_nonuniform_scaling(v)
 }
 
-pub fn translate<N: Scalar>(m: &Mat<N, U4, U4>, v: &Vec<N, U3>) -> Mat<N, U4, U4> {
-    unimplemented!()
+pub fn translate<N: Number>(m: &Mat<N, U4, U4>, v: &Vec<N, U3>) -> Mat<N, U4, U4> {
+    m.append_translation(v)
 }
diff --git a/nalgebra-glm/src/ext_quaternion_common.rs b/nalgebra-glm/src/ext_quaternion_common.rs
index 42e045bf..05d33b2b 100644
--- a/nalgebra-glm/src/ext_quaternion_common.rs
+++ b/nalgebra-glm/src/ext_quaternion_common.rs
@@ -1,31 +1,31 @@
-use na::{Real, U4};
+use na::{self, Real, Unit, U4};
 
 use aliases::{Vec, Qua};
 
 pub fn conjugate<N: Real>(q: &Qua<N>) -> Qua<N> {
-    unimplemented!()
+    q.conjugate()
 }
 
 pub fn inverse<N: Real>(q: &Qua<N>) -> Qua<N> {
-    unimplemented!()
+    q.try_inverse().unwrap_or(na::zero())
 }
 
-pub fn isinf<N: Real>(x: &Qua<N>) -> Vec<bool, U4> {
-    unimplemented!()
+//pub fn isinf<N: Real>(x: &Qua<N>) -> Vec<bool, U4> {
+//    x.coords.map(|e| e.is_inf())
+//}
+
+//pub fn isnan<N: Real>(x: &Qua<N>) -> Vec<bool, U4> {
+//    x.coords.map(|e| e.is_nan())
+//}
+
+pub fn lerp<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
+    x.lerp(y, a)
 }
 
-pub fn isnan<N: Real>(x: &Qua<N>) -> Vec<bool, U4> {
-    unimplemented!()
+pub fn mix<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
+    x * (N::one() - a) + y * a
 }
 
-pub fn lerp<N: Real>(x: &Qua<N>, y: &Qua<N>,a: N) -> Qua<N> {
-    unimplemented!()
-}
-
-pub fn mix<N: Real>(x: &Qua<N>, y: &Qua<N>,a: N) -> Qua<N> {
-    unimplemented!()
-}
-
-pub fn slerp<N: Real>(x: &Qua<N>, y: &Qua<N>,a: N) -> Qua<N> {
-    unimplemented!()
+pub fn slerp<N: Real>(x: &Qua<N>, y: &Qua<N>, a: N) -> Qua<N> {
+    Unit::new_normalize(*x).slerp(&Unit::new_normalize(*y), a).unwrap()
 }
diff --git a/nalgebra-glm/src/ext_quaternion_geometric.rs b/nalgebra-glm/src/ext_quaternion_geometric.rs
index e9fd7d09..7b231101 100644
--- a/nalgebra-glm/src/ext_quaternion_geometric.rs
+++ b/nalgebra-glm/src/ext_quaternion_geometric.rs
@@ -3,14 +3,14 @@ use na::Real;
 use aliases::Qua;
 
 pub fn cross<N: Real>(q1: &Qua<N>, q2: &Qua<N>) -> Qua<N> {
-    unimplemented!()
+    q1 * q2
 }
 pub fn dot<N: Real>(x: &Qua<N>, y: &Qua<N>) -> N {
-    unimplemented!()
+    x.dot(y)
 }
 pub fn length<N: Real>(q: &Qua<N>) -> N {
-    unimplemented!()
+    q.norm()
 }
 pub fn normalize<N: Real>(q: &Qua<N>) -> Qua<N> {
-    unimplemented!()
+    q.normalize()
 }
\ No newline at end of file
diff --git a/nalgebra-glm/src/ext_quaternion_relational.rs b/nalgebra-glm/src/ext_quaternion_relational.rs
index fe5a32b0..ab37d297 100644
--- a/nalgebra-glm/src/ext_quaternion_relational.rs
+++ b/nalgebra-glm/src/ext_quaternion_relational.rs
@@ -1,4 +1,20 @@
-pub fn vec< 4, bool, Q >  equal<N: Scalar>(x: &Qua<N>, y: &Qua<N>)
-pub fn vec< 4, bool, Q >  equal<N: Scalar>(x: &Qua<N>, y: &Qua<N>,epsilon: N)
-pub fn vec< 4, bool, Q >  notEqual<N: Scalar>(x: &Qua<N>, y: &Qua<N>)
-pub fn vec< 4, bool, Q >  notEqual<N: Scalar>(x: &Qua<N>, y: &Qua<N>,epsilon: N)
\ No newline at end of file
+use na::{Real, U4};
+
+
+use aliases::{Qua, Vec};
+
+pub fn equal<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
+    ::equal(&x.coords, &y.coords)
+}
+
+pub fn equal_eps<N: Real>(x: &Qua<N>, y: &Qua<N>, epsilon: N) -> Vec<bool, U4> {
+    ::equal_eps(&x.coords, &y.coords, epsilon)
+}
+
+pub fn not_equal<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
+    ::not_equal(&x.coords, &y.coords)
+}
+
+pub fn not_equal_eps<N: Real>(x: &Qua<N>, y: &Qua<N>, epsilon: N) -> Vec<bool, U4> {
+    ::not_equal_eps(&x.coords, &y.coords, epsilon)
+}
diff --git a/nalgebra-glm/src/ext_quaternion_transform.rs b/nalgebra-glm/src/ext_quaternion_transform.rs
index c82dc841..08f7b393 100644
--- a/nalgebra-glm/src/ext_quaternion_transform.rs
+++ b/nalgebra-glm/src/ext_quaternion_transform.rs
@@ -1,19 +1,23 @@
-use na::{Real, U3};
+use na::{Real, U3, UnitQuaternion, Unit};
 
 use aliases::{Vec, Qua};
 
 pub fn exp<N: Real>(q: &Qua<N>) -> Qua<N> {
-    unimplemented!()
+    q.exp()
 }
+
 pub fn log<N: Real>(q: &Qua<N>) -> Qua<N> {
-    unimplemented!()
+    q.ln()
 }
+
 pub fn pow<N: Real>(q: &Qua<N>, y: N) -> Qua<N> {
-    unimplemented!()
+    q.powf(y)
 }
+
 pub fn rotate<N: Real>(q: &Qua<N>, angle: N, axis: &Vec<N, U3>) -> Qua<N> {
-    unimplemented!()
+    q * UnitQuaternion::from_axis_angle(&Unit::new_normalize(*axis), angle).unwrap()
 }
+
 pub fn sqrt<N: Real>(q: &Qua<N>) -> Qua<N> {
     unimplemented!()
 }
\ No newline at end of file
diff --git a/nalgebra-glm/src/ext_quaternion_trigonometric.rs b/nalgebra-glm/src/ext_quaternion_trigonometric.rs
index 77f20b74..3f0e6b61 100644
--- a/nalgebra-glm/src/ext_quaternion_trigonometric.rs
+++ b/nalgebra-glm/src/ext_quaternion_trigonometric.rs
@@ -1,13 +1,19 @@
-use na::{Real, U3};
+use na::{Real, U3, Unit, UnitQuaternion, Vector3};
 
 use aliases::{Vec, Qua};
 
 pub fn angle<N: Real>(x: &Qua<N>) -> N {
-    unimplemented!()
+    UnitQuaternion::from_quaternion(*x).angle()
 }
+
 pub fn angleAxis<N: Real>(angle: N, axis: &Vec<N, U3>) -> Qua<N> {
-    unimplemented!()
+    UnitQuaternion::from_axis_angle(&Unit::new_normalize(*axis), angle).unwrap()
 }
+
 pub fn axis<N: Real>(x: &Qua<N>) -> Vec<N, U3> {
-    unimplemented!()
+    if let Some(a) = UnitQuaternion::from_quaternion(*x).axis() {
+        a.unwrap()
+    } else {
+        Vector3::zeros()
+    }
 }
\ No newline at end of file
diff --git a/nalgebra-glm/src/ext_scalar_constants.rs b/nalgebra-glm/src/ext_scalar_constants.rs
index 525946f7..d34c58bf 100644
--- a/nalgebra-glm/src/ext_scalar_constants.rs
+++ b/nalgebra-glm/src/ext_scalar_constants.rs
@@ -1,7 +1,10 @@
-pub fn epsilon<T>() -> T {
-    unimplemented!()
+use approx::AbsDiffEq;
+use na::Real;
+
+pub fn epsilon<N: AbsDiffEq<Epsilon = N>>() -> N {
+    N::default_epsilon()
 }
 
-pub fn pi<T>() -> T {
-    unimplemented!()
+pub fn pi<N: Real>() -> N {
+    N::pi()
 }
diff --git a/nalgebra-glm/src/ext_vector_common.rs b/nalgebra-glm/src/ext_vector_common.rs
index 02aa420e..59033378 100644
--- a/nalgebra-glm/src/ext_vector_common.rs
+++ b/nalgebra-glm/src/ext_vector_common.rs
@@ -1,64 +1,44 @@
-use na::{Scalar, DimName, DefaultAllocator};
+use na::{self, DefaultAllocator};
 
-use traits::Alloc;
+use traits::{Alloc, Number, Dimension};
 use aliases::Vec;
 
-pub fn fmax<N: Scalar, D: DimName>(a: &Vec<N, D>,b: N) -> Vec<N, D>
+pub fn max<N: Number, D: Dimension>(a: &Vec<N, D>, b: N) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
+    a.map(|a| na::sup(&a, &b))
 }
 
-pub fn fmax2<N: Scalar, D: DimName>(a: &Vec<N, D>, b: &Vec<N, D>) -> Vec<N, D>
+pub fn max2<N: Number, D: Dimension>(a: &Vec<N, D>, b: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
+    na::sup(a, b)
 }
 
-pub fn fmax3<N: Scalar, D: DimName>(a: &Vec<N, D>, b: &Vec<N, D>, c: &Vec<N, D>) -> Vec<N, D>
+pub fn max3<N: Number, D: Dimension>(a: &Vec<N, D>, b: &Vec<N, D>, c: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
+    max2(&max2(a, b), c)
 }
 
-pub fn fmax4<N: Scalar, D: DimName>(a: &Vec<N, D>, b: &Vec<N, D>, c: &Vec<N, D>, d: &Vec<N, D>) -> Vec<N, D>
+pub fn max4<N: Number, D: Dimension>(a: &Vec<N, D>, b: &Vec<N, D>, c: &Vec<N, D>, d: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
+    max2(&max2(a, b), &max2(c, d))
 }
 
-pub fn fmin<N: Scalar, D: DimName>(x: &Vec<N, D>,y: N) -> Vec<N, D>
+pub fn min<N: Number, D: Dimension>(x: &Vec<N, D>,y: N) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
+    x.map(|x| na::inf(&x, &y))
 }
 
-pub fn fmin2<N: Scalar, D: DimName>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<N, D>
+pub fn min2<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
+    na::inf(x, y)
 }
 
-pub fn fmin3<N: Scalar, D: DimName>(a: &Vec<N, D>, b: &Vec<N, D>, c: &Vec<N, D>) -> Vec<N, D>
+pub fn min3<N: Number, D: Dimension>(a: &Vec<N, D>, b: &Vec<N, D>, c: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
+    min2(&min2(a, b), c)
 }
 
-pub fn fmin4<N: Scalar, D: DimName>(a: &Vec<N, D>, b: &Vec<N, D>, c: &Vec<N, D>, d: &Vec<N, D>) -> Vec<N, D>
+pub fn min4<N: Number, D: Dimension>(a: &Vec<N, D>, b: &Vec<N, D>, c: &Vec<N, D>, d: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
-}
-
-pub fn max3<N: Scalar, D: DimName>(x: &Vec<N, D>, y: &Vec<N, D>, z: &Vec<N, D>) -> Vec<N, D>
-    where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
-}
-
-pub fn max4<N: Scalar, D: DimName>(x: &Vec<N, D>, y: &Vec<N, D>, z: &Vec<N, D>, w: &Vec<N, D>) -> Vec<N, D>
-    where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
-}
-
-pub fn min3<N: Scalar, D: DimName>(a: &Vec<N, D>, b: &Vec<N, D>, c: &Vec<N, D>) -> Vec<N, D>
-    where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
-}
-
-pub fn min4<N: Scalar, D: DimName>(a: &Vec<N, D>, b: &Vec<N, D>, c: &Vec<N, D>, d: &Vec<N, D>) -> Vec<N, D>
-    where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
+    min2(&min2(a, b), &min2(c, d))
 }
diff --git a/nalgebra-glm/src/ext_vector_relational.rs b/nalgebra-glm/src/ext_vector_relational.rs
index a8e02196..ba505cb7 100644
--- a/nalgebra-glm/src/ext_vector_relational.rs
+++ b/nalgebra-glm/src/ext_vector_relational.rs
@@ -1,24 +1,24 @@
-use na::{Scalar, DimName, DefaultAllocator};
+use na::{DefaultAllocator};
 
-use traits::Alloc;
+use traits::{Alloc, Number, Dimension};
 use aliases::Vec;
 
-pub fn equal<N: Scalar, D: DimName>(x: &Vec<N, D>, y: &Vec<N, D>, epsilon: N) -> Vec<bool, D>
+pub fn equal_eps<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>, epsilon: N) -> Vec<bool, D>
     where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
+    x.zip_map(y, |x, y| abs_diff_eq!(x, y))
 }
 
-pub fn equal2<N: Scalar, D: DimName>(x: &Vec<N, D>, y: &Vec<N, D>, epsilon: &Vec<N, D>) -> Vec<bool, D>
+pub fn equal_eps_vec<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>, epsilon: &Vec<N, D>) -> Vec<bool, D>
     where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
+    x.zip_zip_map(y, epsilon, |x, y, eps| abs_diff_eq!(x, y, epsilon = eps))
 }
 
-pub fn notEqual<N: Scalar, D: DimName>(x: &Vec<N, D>, y: &Vec<N, D>, epsilon: N) -> Vec<bool, D>
+pub fn not_equal_eps<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>, epsilon: N) -> Vec<bool, D>
     where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
+    x.zip_map(y, |x, y| abs_diff_ne!(x, y))
 }
 
-pub fn notEqual2<N: Scalar, D: DimName>(x: &Vec<N, D>, y: &Vec<N, D>, epsilon: &Vec<N, D>) -> Vec<bool, D>
+pub fn not_equal_eps_vec<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>, epsilon: &Vec<N, D>) -> Vec<bool, D>
     where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
+    x.zip_zip_map(y, epsilon, |x, y, eps| abs_diff_ne!(x, y, epsilon = eps))
 }
diff --git a/nalgebra-glm/src/geometric.rs b/nalgebra-glm/src/geometric.rs
index dfea9c03..75050bd5 100644
--- a/nalgebra-glm/src/geometric.rs
+++ b/nalgebra-glm/src/geometric.rs
@@ -1,43 +1,57 @@
-use na::{Scalar, Real, DimName, U3, DefaultAllocator};
+use na::{self, Scalar, Real, U3, DefaultAllocator};
 
-use traits::{Number, Alloc};
+use traits::{Number, Alloc, Dimension};
 use aliases::Vec;
 
-pub fn cross<N: Number, D: DimName>(x: &Vec<N, U3>, y: &Vec<N, U3>) -> Vec<N, U3> {
+pub fn cross<N: Number, D: Dimension>(x: &Vec<N, U3>, y: &Vec<N, U3>) -> Vec<N, U3> {
     x.cross(y)
 }
 
-pub fn distance<N: Real, D: DimName>(p0: &Vec<N, D>, p1: &Vec<N, D>) -> N
+pub fn distance<N: Real, D: Dimension>(p0: &Vec<N, D>, p1: &Vec<N, D>) -> N
     where DefaultAllocator: Alloc<N, D> {
    (p1 - p0).norm()
 }
 
-pub fn dot<N: Number, D: DimName>(x: &Vec<N, D>, y: &Vec<N, D>) -> N
+pub fn dot<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> N
     where DefaultAllocator: Alloc<N, D> {
     x.dot(y)
 }
 
-pub fn faceforward<N: Scalar, D: DimName>(N: &Vec<N, D>, I: &Vec<N, D>, Nref: &Vec<N, D>) -> Vec<N, D>
+pub fn faceforward<N: Number, D: Dimension>(n: &Vec<N, D>, i: &Vec<N, D>, nref: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
+    if nref.dot(i) < N::zero() {
+        n.clone()
+    } else {
+        -n.clone()
+    }
 }
 
-pub fn length<N: Real, D: DimName>(x: &Vec<N, D>) -> N
+pub fn length<N: Real, D: Dimension>(x: &Vec<N, D>) -> N
     where DefaultAllocator: Alloc<N, D> {
     x.norm()
 }
 
-pub fn normalize<N: Real, D: DimName>(x: &Vec<N, D>) -> Vec<N, D>
+pub fn normalize<N: Real, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     x.normalize()
 }
 
-pub fn reflect<N: Scalar, D: DimName>(I: &Vec<N, D>, N: &Vec<N, D>) -> Vec<N, D>
+pub fn reflect<N: Number, D: Dimension>(i: &Vec<N, D>, n: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
+    let _2 = N::one() + N::one();
+    i - n * (n.dot(i) * _2)
 }
 
-pub fn  refract<N: Scalar, D: DimName>(I: &Vec<N, D>, N: &Vec<N, D>, eta: N) -> Vec<N, D>
+pub fn refract<N: Real, D: Dimension>(i: &Vec<N, D>, n: &Vec<N, D>, eta: N) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
+
+    let ni = n.dot(i);
+    let k = N::one() - eta * eta * (N::one() - ni * ni);
+
+    if k < N::zero() {
+        Vec::<_, D>::zeros()
+    }
+    else {
+        i * eta - n * (eta * dot(n, i) + k.sqrt())
+    }
 }
\ No newline at end of file
diff --git a/nalgebra-glm/src/gtc_bitfield.rs b/nalgebra-glm/src/gtc_bitfield.rs
index 5789934c..e04768ef 100644
--- a/nalgebra-glm/src/gtc_bitfield.rs
+++ b/nalgebra-glm/src/gtc_bitfield.rs
@@ -1,6 +1,6 @@
-use na::{Scalar, DimName, DefaultAllocator};
+use na::{Scalar, DefaultAllocator};
 
-use traits::Alloc;
+use traits::{Alloc, Dimension};
 use aliases::*;
 
 pub fn bitfieldDeinterleave(x: u16) -> U8Vec2 {
@@ -19,7 +19,7 @@ pub fn bitfieldFillOne<IU>(Value: IU, FirstBit: i32, BitCount: i32) -> IU {
     unimplemented!()
 }
 
-pub fn bitfieldFillOne2<N: Scalar, D: DimName>(Value: &Vec<N, D>, FirstBit: i32, BitCount: i32) -> Vec<N, D>
+pub fn bitfieldFillOne2<N: Scalar, D: Dimension>(Value: &Vec<N, D>, FirstBit: i32, BitCount: i32) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
@@ -28,7 +28,7 @@ pub fn bitfieldFillZero<IU>(Value: IU, FirstBit: i32, BitCount: i32) -> IU {
     unimplemented!()
 }
 
-pub fn bitfieldFillZero2<N: Scalar, D: DimName>(Value: &Vec<N, D>, FirstBit: i32, BitCount: i32) -> Vec<N, D>
+pub fn bitfieldFillZero2<N: Scalar, D: Dimension>(Value: &Vec<N, D>, FirstBit: i32, BitCount: i32) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
@@ -113,7 +113,7 @@ pub fn bitfieldRotateLeft<IU>(In: IU, Shift: i32) -> IU {
     unimplemented!()
 }
 
-pub fn bitfieldRotateLeft2<N: Scalar, D: DimName>(In: &Vec<N, D>, Shift: i32) -> Vec<N, D>
+pub fn bitfieldRotateLeft2<N: Scalar, D: Dimension>(In: &Vec<N, D>, Shift: i32) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
@@ -122,7 +122,7 @@ pub fn bitfieldRotateRight<IU>(In: IU, Shift: i32) -> IU {
     unimplemented!()
 }
 
-pub fn bitfieldRotateRight2<N: Scalar, D: DimName>(In: &Vec<N, D>, Shift: i32) -> Vec<N, D>
+pub fn bitfieldRotateRight2<N: Scalar, D: Dimension>(In: &Vec<N, D>, Shift: i32) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
@@ -131,7 +131,7 @@ pub fn mask<IU>(Bits: IU) -> IU {
     unimplemented!()
 }
 
-pub fn mask2<N: Scalar, D: DimName>(v: &Vec<N, D>) -> Vec<N, D>
+pub fn mask2<N: Scalar, D: Dimension>(v: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
diff --git a/nalgebra-glm/src/gtc_constants.rs b/nalgebra-glm/src/gtc_constants.rs
index 3bb93258..ab9ebb2c 100644
--- a/nalgebra-glm/src/gtc_constants.rs
+++ b/nalgebra-glm/src/gtc_constants.rs
@@ -1,108 +1,111 @@
-pub fn e<T>() -> T {
-    unimplemented!()
+use na::{self, Real};
+use traits::Number;
+
+pub fn e<N: Real>() -> N {
+    N::e()
 }
 
-pub fn euler<T>() -> T {
-    unimplemented!()
+pub fn euler<N: Real>() -> N {
+    N::e()
 }
 
-pub fn four_over_pi<T>() -> T {
-    unimplemented!()
+pub fn four_over_pi<N: Real>() -> N {
+    na::convert::<_, N>(4.0) / N::pi()
 }
 
-pub fn golden_ratio<T>() -> T {
-    unimplemented!()
+pub fn golden_ratio<N: Real>() -> N {
+    (N::one() + root_five()) / na::convert(2.0)
 }
 
-pub fn half_pi<T>() -> T {
-    unimplemented!()
+pub fn half_pi<N: Real>() -> N {
+    N::frac_pi_2()
 }
 
-pub fn ln_ln_two<T>() -> T {
-    unimplemented!()
+pub fn ln_ln_two<N: Real>() -> N {
+    N::ln_2().ln()
 }
 
-pub fn ln_ten<T>() -> T {
-    unimplemented!()
+pub fn ln_ten<N: Real>() -> N {
+    N::ln_10()
 }
 
-pub fn ln_two<T>() -> T {
-    unimplemented!()
+pub fn ln_two<N: Real>() -> N {
+    N::ln_2()
 }
 
-pub fn one<T>() -> T {
-    unimplemented!()
+pub fn one<N: Number>() -> N {
+    N::one()
 }
 
-pub fn one_over_pi<T>() -> T {
-    unimplemented!()
+pub fn one_over_pi<N: Real>() -> N {
+    N::frac_1_pi()
 }
 
-pub fn one_over_root_two<T>() -> T {
-    unimplemented!()
+pub fn one_over_root_two<N: Real>() -> N {
+    N::one() / root_two()
 }
 
-pub fn one_over_two_pi<T>() -> T {
-    unimplemented!()
+pub fn one_over_two_pi<N: Real>() -> N {
+    N::frac_1_pi() * na::convert(0.5)
 }
 
-pub fn quarter_pi<T>() -> T {
-    unimplemented!()
+pub fn quarter_pi<N: Real>() -> N {
+    N::frac_pi_4()
 }
 
-pub fn root_five<T>() -> T {
-    unimplemented!()
+pub fn root_five<N: Real>() -> N {
+    na::convert::<_, N>(5.0).sqrt()
 }
 
-pub fn root_half_pi<T>() -> T {
-    unimplemented!()
+pub fn root_half_pi<N: Real>() -> N {
+    (N::pi() / na::convert(2.0)).sqrt()
 }
 
-pub fn root_ln_four<T>() -> T {
-    unimplemented!()
+pub fn root_ln_four<N: Real>() -> N {
+    na::convert::<_, N>(4.0).sqrt()
 }
 
-pub fn root_pi<T>() -> T {
-    unimplemented!()
+pub fn root_pi<N: Real>() -> N {
+    N::pi().sqrt()
 }
 
-pub fn root_three<T>() -> T {
-    unimplemented!()
+pub fn root_three<N: Real>() -> N {
+    na::convert::<_, N>(3.0).sqrt()
 }
 
-pub fn root_two<T>() -> T {
-    unimplemented!()
+pub fn root_two<N: Real>() -> N {
+    // FIXME: there should be a ::sqrt_2() on the Real trait.
+    na::convert::<_, N>(2.0).sqrt()
 }
 
-pub fn root_two_pi<T>() -> T {
-    unimplemented!()
+pub fn root_two_pi<N: Real>() -> N {
+    N::two_pi().sqrt()
 }
 
-pub fn third<T>() -> T {
-    unimplemented!()
+pub fn third<N: Real>() -> N {
+    na::convert(1.0 / 2.0)
 }
 
-pub fn three_over_two_pi<T>() -> T {
-    unimplemented!()
+pub fn three_over_two_pi<N: Real>() -> N {
+    na::convert::<_, N>(3.0) / N::two_pi()
 }
 
-pub fn two_over_pi<T>() -> T {
-    unimplemented!()
+pub fn two_over_pi<N: Real>() -> N {
+    N::frac_2_pi()
 }
 
-pub fn two_over_root_pi<T>() -> T {
-    unimplemented!()
+pub fn two_over_root_pi<N: Real>() -> N {
+    N::frac_2_pi()
 }
 
-pub fn two_pi<T>() -> T {
-    unimplemented!()
+pub fn two_pi<N: Real>() -> N {
+    N::two_pi()
 }
 
-pub fn two_thirds<T>() -> T {
-    unimplemented!()
+pub fn two_thirds<N: Real>() -> N {
+    na::convert(2.0 / 3.0)
 }
 
-pub fn zero<T>() -> T {
-    unimplemented!()
-
+pub fn zero<N: Number>() -> N {
+    N::zero()
 }
\ No newline at end of file
diff --git a/nalgebra-glm/src/gtc_epsilon.rs b/nalgebra-glm/src/gtc_epsilon.rs
index 13c21a9f..5b5b4c2a 100644
--- a/nalgebra-glm/src/gtc_epsilon.rs
+++ b/nalgebra-glm/src/gtc_epsilon.rs
@@ -1,22 +1,23 @@
-use na::{DimName, Scalar, DefaultAllocator};
+use approx::AbsDiffEq;
+use na::DefaultAllocator;
 
-use traits::Alloc;
+use traits::{Alloc, Number, Dimension};
 use aliases::Vec;
 
-pub fn epsilonEqual<N: Scalar, D: DimName>(x: &Vec<N, D>, y: &Vec<N, D>, epsilon: N) -> Vec<bool, D>
+pub fn epsilonEqual<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>, epsilon: N) -> Vec<bool, D>
     where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
+    x.zip_map(y, |x, y| abs_diff_eq!(x, y, epsilon = epsilon))
 }
 
-pub fn epsilonEqual2<T>(x: T, y: T, epsilon: T) -> bool {
-    unimplemented!()
+pub fn epsilonEqual2<N: AbsDiffEq<Epsilon = N>>(x: N, y: N, epsilon: N) -> bool {
+    abs_diff_eq!(x, y, epsilon = epsilon)
 }
 
-pub fn epsilonNotEqual<N: Scalar, D: DimName>(x: &Vec<N, D>, y: &Vec<N, D>, epsilon: N) -> Vec<bool, D>
+pub fn epsilonNotEqual<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>, epsilon: N) -> Vec<bool, D>
     where DefaultAllocator: Alloc<N, D> {
-    unimplemented!()
+    x.zip_map(y, |x, y| abs_diff_ne!(x, y, epsilon = epsilon))
 }
 
-pub fn epsilonNotEqual2<T>(x: T, y: T, epsilon: T) -> bool {
-    unimplemented!()
+pub fn epsilonNotEqual2<N: AbsDiffEq<Epsilon = N>>(x: N, y: N, epsilon: N) -> bool {
+    abs_diff_ne!(x, y, epsilon = epsilon)
 }
diff --git a/nalgebra-glm/src/gtc_integer.rs b/nalgebra-glm/src/gtc_integer.rs
index 6ebb4c33..0531f01a 100644
--- a/nalgebra-glm/src/gtc_integer.rs
+++ b/nalgebra-glm/src/gtc_integer.rs
@@ -1,9 +1,9 @@
-use na::{DimName, Scalar, DefaultAllocator};
+use na::{Scalar, DefaultAllocator};
 
-use traits::Alloc;
+use traits::{Alloc, Dimension};
 use aliases::Vec;
 
-pub fn iround<N: Scalar, D: DimName>(x: &Vec<N, D>) -> Vec<i64, D>
+pub fn iround<N: Scalar, D: Dimension>(x: &Vec<N, D>) -> Vec<i64, D>
     where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
@@ -12,7 +12,7 @@ pub fn log2<I>(x: I) -> I {
     unimplemented!()
 }
 
-pub fn uround<N: Scalar, D: DimName>(x: &Vec<N, D>) -> Vec<u64, D>
+pub fn uround<N: Scalar, D: Dimension>(x: &Vec<N, D>) -> Vec<u64, D>
     where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
\ No newline at end of file
diff --git a/nalgebra-glm/src/gtc_matrix_access.rs b/nalgebra-glm/src/gtc_matrix_access.rs
index 640a7979..f8280e96 100644
--- a/nalgebra-glm/src/gtc_matrix_access.rs
+++ b/nalgebra-glm/src/gtc_matrix_access.rs
@@ -1,24 +1,28 @@
-use na::{Scalar, DimName, DefaultAllocator};
+use na::{Scalar, DefaultAllocator};
 
-use traits::Alloc;
+use traits::{Alloc, Dimension};
 use aliases::{Vec, Mat};
 
-pub fn column<N: Scalar, R: DimName, C: DimName>(m: &Mat<N, R, C>, index: usize) -> Vec<N, C>
+pub fn column<N: Scalar, R: Dimension, C: Dimension>(m: &Mat<N, R, C>, index: usize) -> Vec<N, R>
     where DefaultAllocator: Alloc<N, R, C> {
-    unimplemented!()
+    m.column(index).into_owned()
 }
 
-pub fn column2<N: Scalar, R: DimName, C: DimName>(m: &Mat<N, R, C>, index: usize, x: &Vec<N, C>) -> Mat<N, R, C>
+pub fn set_column<N: Scalar, R: Dimension, C: Dimension>(m: &Mat<N, R, C>, index: usize, x: &Vec<N, R>) -> Mat<N, R, C>
     where DefaultAllocator: Alloc<N, R, C> {
-    unimplemented!()
+    let mut res = m.clone();
+    res.set_column(index, x);
+    res
 }
 
-pub fn row<N: Scalar, R: DimName, C: DimName>(m: &Mat<N, R, C>, index: usize) -> Vec<N, R>
+pub fn row<N: Scalar, R: Dimension, C: Dimension>(m: &Mat<N, R, C>, index: usize) -> Vec<N, C>
     where DefaultAllocator: Alloc<N, R, C> {
-    unimplemented!()
+    m.row(index).into_owned().transpose()
 }
 
-pub fn row2<N: Scalar, R: DimName, C: DimName>(m: &Mat<N, R, C>, index: usize, x: &Vec<N, R>) -> Mat<N, R, C>
+pub fn set_row<N: Scalar, R: Dimension, C: Dimension>(m: &Mat<N, R, C>, index: usize, x: &Vec<N, C>) -> Mat<N, R, C>
     where DefaultAllocator: Alloc<N, R, C> {
-    unimplemented!()
+    let mut res = m.clone();
+    res.set_row(index, &x.transpose());
+    res
 }
diff --git a/nalgebra-glm/src/gtc_matrix_inverse.rs b/nalgebra-glm/src/gtc_matrix_inverse.rs
index 2d06dfbf..c36210ea 100644
--- a/nalgebra-glm/src/gtc_matrix_inverse.rs
+++ b/nalgebra-glm/src/gtc_matrix_inverse.rs
@@ -1,14 +1,15 @@
-use na::{Scalar, DimName, DefaultAllocator};
+use na::{Real, DefaultAllocator, Transform, TAffine};
 
-use traits::Alloc;
+use traits::{Alloc, Dimension};
 use aliases::Mat;
 
-pub fn affineInverse<N: Scalar, D: DimName>(m: &Mat<N, D, D>) -> Mat<N, D, D>
+pub fn affine_inverse<N: Real, D: Dimension>(m: Mat<N, D, D>) -> Mat<N, D, D>
     where DefaultAllocator: Alloc<N, D, D> {
-    unimplemented!()
+    // FIXME: this should be optimized.
+    m.try_inverse().unwrap_or(Mat::<_, D, D>::zeros())
 }
 
-pub fn inverseTranspose<N: Scalar, D: DimName>(m: &Mat<N, D, D>) -> Mat<N, D, D>
+pub fn inverse_transpose<N: Real, D: Dimension>(m: Mat<N, D, D>) -> Mat<N, D, D>
     where DefaultAllocator: Alloc<N, D, D> {
-    unimplemented!()
+    m.try_inverse().unwrap_or(Mat::<_, D, D>::zeros()).transpose()
 }
\ No newline at end of file
diff --git a/nalgebra-glm/src/gtc_packing.rs b/nalgebra-glm/src/gtc_packing.rs
index 394324a7..e0ab84a0 100644
--- a/nalgebra-glm/src/gtc_packing.rs
+++ b/nalgebra-glm/src/gtc_packing.rs
@@ -1,6 +1,6 @@
-use na::{Scalar, Real, DimName, DefaultAllocator, U3, U4};
+use na::{Scalar, Real, DefaultAllocator, U3, U4};
 
-use traits::Alloc;
+use traits::{Alloc, Dimension};
 use aliases::*;
 
 
@@ -12,7 +12,7 @@ pub fn packF3x9_E1x5(v: &Vec3) -> i32 {
     unimplemented!()
 }
 
-pub fn packHalf<D: DimName>(v: &Vec<f32, D>) -> Vec<u16, D>
+pub fn packHalf<D: Dimension>(v: &Vec<f32, D>) -> Vec<u16, D>
     where DefaultAllocator: Alloc<u16, D> {
     unimplemented!()
 }
@@ -53,7 +53,7 @@ pub fn packRGBM<N: Scalar>(rgb: &Vec<N, U3>) -> Vec<N, U4> {
     unimplemented!()
 }
 
-pub fn packSnorm<I: Scalar, N: Real, D: DimName>(v: Vec<N, D>) -> Vec<I, D>
+pub fn packSnorm<I: Scalar, N: Real, D: Dimension>(v: Vec<N, D>) -> Vec<I, D>
     where DefaultAllocator: Alloc<N, D> + Alloc<I, D> {
     unimplemented!()
 }
@@ -102,7 +102,7 @@ pub fn packUint4x8(v: &U8Vec4) -> i32 {
     unimplemented!()
 }
 
-pub fn packUnorm<UI: Scalar, N: Real, D: DimName>(v: &Vec<N, D>) -> Vec<UI, D>
+pub fn packUnorm<UI: Scalar, N: Real, D: Dimension>(v: &Vec<N, D>) -> Vec<UI, D>
     where DefaultAllocator: Alloc<N, D> + Alloc<UI, D> {
     unimplemented!()
 }
@@ -155,7 +155,7 @@ pub fn unpackF3x9_E1x5(p: i32) -> Vec3 {
     unimplemented!()
 }
 
-pub fn unpackHalf<N: Scalar, D: DimName>(p: Vec<i16, D>) -> Vec<N, D>
+pub fn unpackHalf<N: Scalar, D: Dimension>(p: Vec<i16, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
@@ -196,7 +196,7 @@ pub fn unpackRGBM<N: Scalar>(rgbm: &Vec<N, U4>) -> Vec<N, U3> {
     unimplemented!()
 }
 
-pub fn unpackSnorm<I: Scalar, N: Real, D: DimName>(v: &Vec<I, D>) -> Vec<N, D>
+pub fn unpackSnorm<I: Scalar, N: Real, D: Dimension>(v: &Vec<I, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> + Alloc<I, D> {
     unimplemented!()
 }
@@ -245,7 +245,7 @@ pub fn unpackUint4x8(p: i32) -> U8Vec4 {
     unimplemented!()
 }
 
-pub fn unpackUnorm<UI: Scalar, N: Real, D: DimName>(v: &Vec<UI, D>) -> Vec<N, D>
+pub fn unpackUnorm<UI: Scalar, N: Real, D: Dimension>(v: &Vec<UI, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> + Alloc<UI, D> {
     unimplemented!()
 }
diff --git a/nalgebra-glm/src/gtc_quaternion.rs b/nalgebra-glm/src/gtc_quaternion.rs
index 286cdf4f..7adf0e14 100644
--- a/nalgebra-glm/src/gtc_quaternion.rs
+++ b/nalgebra-glm/src/gtc_quaternion.rs
@@ -1,64 +1,73 @@
-use na::{Real, U3, U4};
+use na::{self, Real, U3, U4, UnitQuaternion, Vector3, Rotation3};
 
 use aliases::{Qua, Vec, Mat};
 
 
-pub fn eulerAngles<N: Real>(x: &Qua<N>) -> Vec<N, U3> {
-    unimplemented!()
+/// Euler angles of the quaternion as (pitch, yaw, roll).
+pub fn euler_angles<N: Real>(x: &Qua<N>) -> Vec<N, U3> {
+    let q = UnitQuaternion::new_unchecked(*x);
+    let a = q.to_euler_angles();
+    Vector3::new(a.2, a.1, a.0)
 }
 
-pub fn greaterThan<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
-    unimplemented!()
+pub fn greater_than<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
+    ::greater_than(&x.coords, &y.coords)
 }
 
-pub fn greaterThanEqual<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
-    unimplemented!()
+pub fn greater_than_equal<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
+    ::greater_than_equal(&x.coords, &y.coords)
 }
 
-pub fn lessThan<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
-    unimplemented!()
+pub fn less_than<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
+    ::less_than(&x.coords, &y.coords)
 }
 
-pub fn lessThanEqual<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
-    unimplemented!()
+pub fn less_than_equal<N: Real>(x: &Qua<N>, y: &Qua<N>) -> Vec<bool, U4> {
+    ::less_than_equal(&x.coords, &y.coords)
 }
 
-pub fn mat3_cast<N: Real>(x: &Qua<N>) -> Mat<N, U3, U3> {
-    unimplemented!()
+pub fn mat3_cast<N: Real>(x: Qua<N>) -> Mat<N, U3, U3> {
+    let q = UnitQuaternion::new_unchecked(x);
+    q.to_rotation_matrix().unwrap()
 }
 
-pub fn mat4_cast<N: Real>(x: &Qua<N>) -> Mat<N, U4, U4> {
-    unimplemented!()
+pub fn mat4_cast<N: Real>(x: Qua<N>) -> Mat<N, U4, U4> {
+    let q = UnitQuaternion::new_unchecked(x);
+    q.to_homogeneous()
 }
 
-pub fn pitch<N: Real>(x: &Qua<N>) -> N {
-    unimplemented!()
+pub fn quat_cast<N: Real>(x: Mat<N, U3, U3>) -> Qua<N> {
+    let rot = Rotation3::from_matrix_unchecked(x);
+    UnitQuaternion::from_rotation_matrix(&rot).unwrap()
 }
 
-pub fn quat_cast<N: Real>(x: &Mat<N, U3, U3>) -> Qua<N> {
-    unimplemented!()
+pub fn quat_cast2<N: Real>(x: Mat<N, U4, U4>) -> Qua<N> {
+    quat_cast(x.fixed_slice::<U3, U3>(0, 0).into_owned())
 }
 
-pub fn quat_cast2<N: Real>(x: &Mat<N, U4, U4>) -> Qua<N> {
-    unimplemented!()
+pub fn quat_look_at<N: Real>(direction: &Vec<N, U3>, up: &Vec<N, U3>) -> Qua<N> {
+    quat_look_at_rh(direction, up)
 }
 
-pub fn quatLookAt<N: Real>(direction: &Vec<N, U3>, up: &Vec<N, U3>) -> Qua<N> {
-    unimplemented!()
+pub fn quat_look_at_lh<N: Real>(direction: &Vec<N, U3>, up: &Vec<N, U3>) -> Qua<N> {
+    UnitQuaternion::look_at_lh(direction, up).unwrap()
 }
 
-pub fn quatLookAtLH<N: Real>(direction: &Vec<N, U3>, up: &Vec<N, U3>) -> Qua<N> {
-    unimplemented!()
-}
-
-pub fn quatLookAtRH<N: Real>(direction: &Vec<N, U3>, up: &Vec<N, U3>) -> Qua<N> {
-    unimplemented!()
+pub fn quat_look_at_rh<N: Real>(direction: &Vec<N, U3>, up: &Vec<N, U3>) -> Qua<N> {
+    UnitQuaternion::look_at_rh(direction, up).unwrap()
 }
 
 pub fn roll<N: Real>(x: &Qua<N>) -> N {
-    unimplemented!()
+    // FIXME: optimize this.
+    euler_angles(x).z
 }
 
 pub fn yaw<N: Real>(x: &Qua<N>) -> N {
-    unimplemented!()
+    // FIXME: optimize this.
+    euler_angles(x).y
+}
+
+pub fn pitch<N: Real>(x: &Qua<N>) -> N {
+    // FIXME: optimize this.
+    euler_angles(x).x
 }
diff --git a/nalgebra-glm/src/gtc_round.rs b/nalgebra-glm/src/gtc_round.rs
index 94443b7a..8e08afda 100644
--- a/nalgebra-glm/src/gtc_round.rs
+++ b/nalgebra-glm/src/gtc_round.rs
@@ -1,6 +1,6 @@
-use na::{Scalar, Real, DimName, U3, DefaultAllocator};
+use na::{Scalar, Real, U3, DefaultAllocator};
 
-use traits::{Number, Alloc};
+use traits::{Number, Alloc, Dimension};
 use aliases::Vec;
 
 
@@ -8,7 +8,7 @@ pub fn ceilMultiple<T>(v: T, Multiple: T) -> T {
     unimplemented!()
 }
 
-pub fn ceilMultiple2<N: Scalar, D: DimName>(v: &Vec<N, D>, Multiple: &Vec<N, D>) -> Vec<N, D>
+pub fn ceilMultiple2<N: Scalar, D: Dimension>(v: &Vec<N, D>, Multiple: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
@@ -17,7 +17,7 @@ pub fn ceilPowerOfTwo<IU>(v: IU) -> IU {
     unimplemented!()
 }
 
-pub fn ceilPowerOfTwo2<N: Scalar, D: DimName>(v: &Vec<N, D>) -> Vec<N, D>
+pub fn ceilPowerOfTwo2<N: Scalar, D: Dimension>(v: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
@@ -26,7 +26,7 @@ pub fn floorMultiple<T>(v: T, Multiple: T) -> T {
     unimplemented!()
 }
 
-pub fn floorMultiple2<N: Scalar, D: DimName>(v: &Vec<N, D>, Multiple: &Vec<N, D>) -> Vec<N, D>
+pub fn floorMultiple2<N: Scalar, D: Dimension>(v: &Vec<N, D>, Multiple: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
@@ -35,7 +35,7 @@ pub fn floorPowerOfTwo<IU>(v: IU) -> IU {
     unimplemented!()
 }
 
-pub fn floorPowerOfTwo2<N: Scalar, D: DimName>(v: &Vec<N, D>) -> Vec<N, D>
+pub fn floorPowerOfTwo2<N: Scalar, D: Dimension>(v: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
@@ -44,12 +44,12 @@ pub fn isMultiple<IU>(v: IU, Multiple: IU) -> bool {
     unimplemented!()
 }
 
-pub fn isMultiple2<N: Scalar, D: DimName>(v: &Vec<N, D>,Multiple: N) -> Vec<bool, D>
+pub fn isMultiple2<N: Scalar, D: Dimension>(v: &Vec<N, D>,Multiple: N) -> Vec<bool, D>
     where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
 
-pub fn isMultiple3<N: Scalar, D: DimName>(v: &Vec<N, D>, Multiple: &Vec<N, D>) -> Vec<bool, D>
+pub fn isMultiple3<N: Scalar, D: Dimension>(v: &Vec<N, D>, Multiple: &Vec<N, D>) -> Vec<bool, D>
     where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
@@ -58,7 +58,7 @@ pub fn isPowerOfTwo2<IU>(v: IU) -> bool {
     unimplemented!()
 }
 
-pub fn isPowerOfTwo<N: Scalar, D: DimName>(v: &Vec<N, D>) -> Vec<bool, D>
+pub fn isPowerOfTwo<N: Scalar, D: Dimension>(v: &Vec<N, D>) -> Vec<bool, D>
     where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
@@ -67,7 +67,7 @@ pub fn roundMultiple<T>(v: T, Multiple: T) -> T {
     unimplemented!()
 }
 
-pub fn roundMultiple2<N: Scalar, D: DimName>(v: &Vec<N, D>, Multiple: &Vec<N, D>) -> Vec<N, D>
+pub fn roundMultiple2<N: Scalar, D: Dimension>(v: &Vec<N, D>, Multiple: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
@@ -76,7 +76,7 @@ pub fn roundPowerOfTwo<IU>(v: IU) -> IU {
     unimplemented!()
 }
 
-pub fn roundPowerOfTwo2<N: Scalar, D: DimName>(v: &Vec<N, D>) -> Vec<N, D>
+pub fn roundPowerOfTwo2<N: Scalar, D: Dimension>(v: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
diff --git a/nalgebra-glm/src/gtc_type_ptr.rs b/nalgebra-glm/src/gtc_type_ptr.rs
index fb54b878..49bb63d2 100644
--- a/nalgebra-glm/src/gtc_type_ptr.rs
+++ b/nalgebra-glm/src/gtc_type_ptr.rs
@@ -1,137 +1,146 @@
-use na::{Scalar, Real, U1, U2, U3, U4};
+use na::{Scalar, Real, U1, U2, U3, U4, DefaultAllocator,
+         Quaternion, Matrix2, Matrix3, Matrix4, Vector1, Vector2, Vector3, Vector4,
+         Matrix2x3, Matrix2x4, Matrix3x2, Matrix3x4, Matrix4x2, Matrix4x3};
 
+use traits::{Number, Alloc, Dimension};
 use aliases::{Qua, Vec, Mat};
 
 
 pub fn make_mat2<N: Scalar>(ptr: &[N]) -> Mat<N, U2, U2> {
-    unimplemented!()
+    Matrix2::from_column_slice(ptr)
 }
 
 pub fn make_mat2x2<N: Scalar>(ptr: &[N]) -> Mat<N, U2, U2> {
-    unimplemented!()
+    Matrix2::from_column_slice(ptr)
 }
 
 pub fn make_mat2x3<N: Scalar>(ptr: &[N]) -> Mat<N, U2, U3> {
-    unimplemented!()
+    Matrix2x3::from_column_slice(ptr)
 }
 
 pub fn make_mat2x4<N: Scalar>(ptr: &[N]) -> Mat<N, U2, U4> {
-    unimplemented!()
+    Matrix2x4::from_column_slice(ptr)
 }
 
 pub fn make_mat3<N: Scalar>(ptr: &[N]) -> Mat<N, U3, U3> {
-    unimplemented!()
+    Matrix3::from_column_slice(ptr)
 }
 
 pub fn make_mat3x2<N: Scalar>(ptr: &[N]) -> Mat<N, U3, U2> {
-    unimplemented!()
+    Matrix3x2::from_column_slice(ptr)
 }
 
 pub fn make_mat3x3<N: Scalar>(ptr: &[N]) -> Mat<N, U3, U3> {
-    unimplemented!()
+    Matrix3::from_column_slice(ptr)
 }
 
 pub fn make_mat3x4<N: Scalar>(ptr: &[N]) -> Mat<N, U3, U4> {
-    unimplemented!()
+    Matrix3x4::from_column_slice(ptr)
 }
 
 pub fn make_mat4<N: Scalar>(ptr: &[N]) -> Mat<N, U4, U4> {
-    unimplemented!()
+    Matrix4::from_column_slice(ptr)
 }
 
 pub fn make_mat4x2<N: Scalar>(ptr: &[N]) -> Mat<N, U4, U2> {
-    unimplemented!()
+    Matrix4x2::from_column_slice(ptr)
 }
 
 pub fn make_mat4x3<N: Scalar>(ptr: &[N]) -> Mat<N, U4, U3> {
-    unimplemented!()
+    Matrix4x3::from_column_slice(ptr)
 }
 
 pub fn make_mat4x4<N: Scalar>(ptr: &[N]) -> Mat<N, U4, U4> {
-    unimplemented!()
+    Matrix4::from_column_slice(ptr)
 }
 
 pub fn make_quat<N: Real>(ptr: &[N]) -> Qua<N> {
-    unimplemented!()
+    Quaternion::from_vector(Vector4::from_column_slice(ptr))
 }
 
 pub fn make_vec1<N: Scalar>(v: &Vec<N, U1>) -> Vec<N, U1> {
-    unimplemented!()
+    *v
 }
 
 pub fn make_vec1_2<N: Scalar>(v: &Vec<N, U2>) -> Vec<N, U1> {
-    unimplemented!()
+    Vector1::new(v.x)
 }
 
 pub fn make_vec1_3<N: Scalar>(v: &Vec<N, U3>) -> Vec<N, U1> {
-    unimplemented!()
+    Vector1::new(v.x)
 }
 
 pub fn make_vec1_4<N: Scalar>(v: &Vec<N, U4>) -> Vec<N, U1> {
-    unimplemented!()
+    Vector1::new(v.x)
 }
 
-pub fn make_vec2_1<N: Scalar>(v: &Vec<N, U1>) -> Vec<N, U2> {
-    unimplemented!()
+pub fn make_vec2_1<N: Number>(v: &Vec<N, U1>) -> Vec<N, U2> {
+    Vector2::new(v.x, N::zero())
 }
 
 pub fn make_vec2_2<N: Scalar>(v: &Vec<N, U2>) -> Vec<N, U2> {
-    unimplemented!()
+    *v
 }
 
 pub fn make_vec2_3<N: Scalar>(v: &Vec<N, U3>) -> Vec<N, U2> {
-    unimplemented!()
+    Vector2::new(v.x, v.y)
 }
 
 pub fn make_vec2_4<N: Scalar>(v: &Vec<N, U4>) -> Vec<N, U2> {
-    unimplemented!()
+    Vector2::new(v.x, v.y)
 }
 
 pub fn make_vec2<N: Scalar>(ptr: &[N]) -> Vec<N, U2> {
-    unimplemented!()
+    Vector2::from_column_slice(ptr)
 }
 
-pub fn make_vec3_1<N: Scalar>(v: &Vec<N, U1>) -> Vec<N, U3> {
-    unimplemented!()
+pub fn make_vec3_1<N: Number>(v: &Vec<N, U1>) -> Vec<N, U3> {
+    Vector3::new(v.x, N::zero(), N::zero())
 }
 
-pub fn make_vec3_2<N: Scalar>(v: &Vec<N, U2>) -> Vec<N, U3> {
-    unimplemented!()
+pub fn make_vec3_2<N: Number>(v: &Vec<N, U2>) -> Vec<N, U3> {
+    Vector3::new(v.x, v.y, N::zero())
 }
 
 pub fn make_vec3_3<N: Scalar>(v: &Vec<N, U3>) -> Vec<N, U3> {
-    unimplemented!()
+    *v
 }
 
 pub fn make_vec3_4<N: Scalar>(v: &Vec<N, U4>) -> Vec<N, U3> {
-    unimplemented!()
+    Vector3::new(v.x, v.y, v.z)
 }
 
 pub fn make_vec3<N: Scalar>(ptr: &[N]) -> Vec<N, U3> {
-    unimplemented!()
+    Vector3::from_column_slice(ptr)
 }
 
-pub fn make_vec4_1<N: Scalar>(v: &Vec<N, U1>) -> Vec<N, U4> {
-    unimplemented!()
+pub fn make_vec4_1<N: Number>(v: &Vec<N, U1>) -> Vec<N, U4> {
+    Vector4::new(v.x, N::zero(), N::zero(), N::zero())
 }
 
-pub fn make_vec4_2<N: Scalar>(v: &Vec<N, U2>) -> Vec<N, U4> {
-    unimplemented!()
+pub fn make_vec4_2<N: Number>(v: &Vec<N, U2>) -> Vec<N, U4> {
+    Vector4::new(v.x, v.y, N::zero(), N::zero())
 }
 
-pub fn make_vec4_3<N: Scalar>(v: &Vec<N, U3>) -> Vec<N, U4> {
-    unimplemented!()
+pub fn make_vec4_3<N: Number>(v: &Vec<N, U3>) -> Vec<N, U4> {
+    Vector4::new(v.x, v.y, v.z, N::zero())
 }
 
 pub fn make_vec4_4<N: Scalar>(v: &Vec<N, U4>) -> Vec<N, U4> {
-    unimplemented!()
+    *v
 }
 
 pub fn make_vec4<N: Scalar>(ptr: &[N]) -> Vec<N, U4> {
-    unimplemented!()
+    Vector4::from_column_slice(ptr)
 }
 
-pub fn value_ptr<T, V>(x: &T) -> &V {
-    unimplemented!()
+pub fn value_ptr<N: Scalar, R: Dimension, C: Dimension>(x: &Mat<N, R, C>) -> &[N]
+    where DefaultAllocator: Alloc<N, R, C> {
+    x.as_slice()
+}
+
+pub fn value_ptr_mut<N: Scalar, R: Dimension, C: Dimension>(x: &mut Mat<N, R, C>) -> &mut [N]
+    where DefaultAllocator: Alloc<N, R, C> {
+    x.as_mut_slice()
 }
 
diff --git a/nalgebra-glm/src/integer.rs b/nalgebra-glm/src/integer.rs
index 0e96e0d7..0a17c08e 100644
--- a/nalgebra-glm/src/integer.rs
+++ b/nalgebra-glm/src/integer.rs
@@ -1,28 +1,28 @@
-use na::{Scalar, Real, DimName, U3, DefaultAllocator};
+use na::{Scalar, Real, U3, DefaultAllocator};
 
-use traits::{Number, Alloc};
+use traits::{Number, Alloc, Dimension};
 use aliases::Vec;
 
 pub fn bitCount<T>(v: T) -> i32 {
     unimplemented!()
 }
 
-pub fn bitCount2<N: Scalar, D: DimName>(v: &Vec<N, D>) -> Vec<i32, D>
+pub fn bitCount2<N: Scalar, D: Dimension>(v: &Vec<N, D>) -> Vec<i32, D>
     where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
 
-pub fn bitfieldExtract<N: Scalar, D: DimName>(Value: &Vec<N, D>, Offset: i32, Bits: i32) -> Vec<N, D>
+pub fn bitfieldExtract<N: Scalar, D: Dimension>(Value: &Vec<N, D>, Offset: i32, Bits: i32) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
 
-pub fn bitfieldInsert<N: Scalar, D: DimName>(Base: &Vec<N, D>, Insert: &Vec<N, D>, Offset: i32, Bits: i32) -> Vec<N, D>
+pub fn bitfieldInsert<N: Scalar, D: Dimension>(Base: &Vec<N, D>, Insert: &Vec<N, D>, Offset: i32, Bits: i32) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
 
-pub fn bitfieldReverse<N: Scalar, D: DimName>(v: &Vec<N, D>) -> Vec<N, D>
+pub fn bitfieldReverse<N: Scalar, D: Dimension>(v: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
@@ -31,7 +31,7 @@ pub fn findLSB<IU>(x: IU) -> u32 {
     unimplemented!()
 }
 
-pub fn findLSB2<N: Scalar, D: DimName>(v: &Vec<N, D>) -> Vec<i32, D>
+pub fn findLSB2<N: Scalar, D: Dimension>(v: &Vec<N, D>) -> Vec<i32, D>
     where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
@@ -40,27 +40,27 @@ pub fn findMSB<IU>(x: IU) -> i32 {
     unimplemented!()
 }
 
-pub fn findMSB2<N: Scalar, D: DimName>(v: &Vec<N, D>) -> Vec<i32, D>
+pub fn findMSB2<N: Scalar, D: Dimension>(v: &Vec<N, D>) -> Vec<i32, D>
     where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
 
-pub fn imulExtended<N: Scalar, D: DimName>(x: &Vec<i32, D>, y: &Vec<i32, D>, msb: &Vec<i32, D>, lsb: &Vec<i32, D>)
+pub fn imulExtended<N: Scalar, D: Dimension>(x: &Vec<i32, D>, y: &Vec<i32, D>, msb: &Vec<i32, D>, lsb: &Vec<i32, D>)
     where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
 
-pub fn uaddCarry<N: Scalar, D: DimName>(x: &Vec<u32, D>, y: &Vec<u32, D>, carry: &Vec<u32, D>) -> Vec<u32, D>
+pub fn uaddCarry<N: Scalar, D: Dimension>(x: &Vec<u32, D>, y: &Vec<u32, D>, carry: &Vec<u32, D>) -> Vec<u32, D>
     where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
 
-pub fn umulExtended<N: Scalar, D: DimName>(x: &Vec<u32, D>, y: &Vec<u32, D>, msb: &Vec<u32, D>, lsb: &Vec<u32, D>)
+pub fn umulExtended<N: Scalar, D: Dimension>(x: &Vec<u32, D>, y: &Vec<u32, D>, msb: &Vec<u32, D>, lsb: &Vec<u32, D>)
     where DefaultAllocator: Alloc<N, D> {
 unimplemented!()
 }
 
-pub fn usubBorrow<N: Scalar, D: DimName>(x: &Vec<u32, D>, y: &Vec<u32, D>, borrow: &Vec<u32, D>) -> Vec<u32, D>
+pub fn usubBorrow<N: Scalar, D: Dimension>(x: &Vec<u32, D>, y: &Vec<u32, D>, borrow: &Vec<u32, D>) -> Vec<u32, D>
     where DefaultAllocator: Alloc<N, D> {
     unimplemented!()
 }
diff --git a/nalgebra-glm/src/lib.rs b/nalgebra-glm/src/lib.rs
index 869ae333..6b1688ba 100644
--- a/nalgebra-glm/src/lib.rs
+++ b/nalgebra-glm/src/lib.rs
@@ -1,4 +1,6 @@
 extern crate num_traits as num;
+#[macro_use]
+extern crate approx;
 extern crate alga;
 extern crate nalgebra as na;
 
@@ -11,6 +13,8 @@ pub use trigonometric::*;
 pub use vector_relational::*;
 pub use exponential::*;
 
+pub use ext_vector_relational::*;
+
 mod aliases;
 pub mod constructors;
 mod common;
@@ -30,6 +34,7 @@ pub mod ext_quaternion_common;
 pub mod ext_quaternion_geometric;
 pub mod ext_quaternion_transform;
 pub mod ext_quaternion_trigonometric;
+pub mod ext_quaternion_relational;
 pub mod ext_scalar_common;
 pub mod ext_scalar_constants;
 pub mod ext_vector_common;
diff --git a/nalgebra-glm/src/matrix.rs b/nalgebra-glm/src/matrix.rs
index 2fb9176f..99b9e565 100644
--- a/nalgebra-glm/src/matrix.rs
+++ b/nalgebra-glm/src/matrix.rs
@@ -1,32 +1,31 @@
 use num::Num;
-use traits::{Alloc, Number};
-use na::{Scalar, Real, DimName, DefaultAllocator, U1};
-use na::allocator::Allocator;
+use na::{Scalar, Real, DefaultAllocator, U1};
 
+use traits::{Alloc, Dimension, Number};
 use aliases::{Mat, Vec};
 
 
-//pub fn determinant<N: Real, D: DimName>(m: &Mat<N, D, D>) -> N
-//    where DefaultAllocator: Allocator<N, D, D> {
-//    m.determinant()
-//}
+pub fn determinant<N: Real, D: Dimension>(m: &Mat<N, D, D>) -> N
+    where DefaultAllocator: Alloc<N, D, D> {
+    m.determinant()
+}
 
-pub fn inverse<N: Real, D: DimName>(m: &Mat<N, D, D>) -> Mat<N, D, D>
+pub fn inverse<N: Real, D: Dimension>(m: &Mat<N, D, D>) -> Mat<N, D, D>
     where DefaultAllocator: Alloc<N, D, D> {
     m.clone().try_inverse().unwrap_or(Mat::<N, D, D>::zeros())
 }
 
-pub fn matrix_comp_mult<N: Number, R: DimName, C: DimName>(x: &Mat<N, R, C>, y: &Mat<N, R, C>) -> Mat<N, R, C>
+pub fn matrix_comp_mult<N: Number, R: Dimension, C: Dimension>(x: &Mat<N, R, C>, y: &Mat<N, R, C>) -> Mat<N, R, C>
     where DefaultAllocator: Alloc<N, R, C> {
     x.component_mul(y)
 }
 
-pub fn outer_product<N: Number, R: DimName, C: DimName>(c: &Vec<N, R>, r: &Vec<N, C>) -> Mat<N, R, C>
+pub fn outer_product<N: Number, R: Dimension, C: Dimension>(c: &Vec<N, R>, r: &Vec<N, C>) -> Mat<N, R, C>
     where DefaultAllocator: Alloc<N, R, C> {
     c * r.transpose()
 }
 
-pub fn transpose<N: Scalar, R: DimName, C: DimName>(x: &Mat<N, R, C>) -> Mat<N, C, R>
+pub fn transpose<N: Scalar, R: Dimension, C: Dimension>(x: &Mat<N, R, C>) -> Mat<N, C, R>
     where DefaultAllocator: Alloc<N, R, C> {
     x.transpose()
 }
\ No newline at end of file
diff --git a/nalgebra-glm/src/traits.rs b/nalgebra-glm/src/traits.rs
index 0106ec64..7b1f40d8 100644
--- a/nalgebra-glm/src/traits.rs
+++ b/nalgebra-glm/src/traits.rs
@@ -1,18 +1,23 @@
 use std::cmp::{PartialOrd, PartialEq};
+use num::Signed;
+use approx::AbsDiffEq;
 
-use alga::general::Ring;
-use na::{Scalar, DimName, U1};
+use alga::general::{Ring, Lattice};
+use na::{Scalar, DimName, DimMin, U1};
 use na::allocator::Allocator;
 
+pub trait Dimension: DimName + DimMin<Self, Output = Self> {}
+impl<D: DimName + DimMin<D, Output = Self>> Dimension for D {}
 
-pub trait Number: Scalar + Ring + PartialOrd + PartialEq {
+
+pub trait Number: Scalar + Ring + Lattice + AbsDiffEq<Epsilon = Self> + Signed {
 }
 
-impl<T: Scalar + Ring + PartialOrd + PartialEq> Number for T {
+impl<T: Scalar + Ring + Lattice + AbsDiffEq<Epsilon = Self> + Signed> Number for T {
 }
 
 #[doc(hidden)]
-pub trait Alloc<N: Scalar, R: DimName, C: DimName = U1>:
+pub trait Alloc<N: Scalar, R: Dimension, C: Dimension = U1>:
 Allocator<N, R> + Allocator<N, C> + Allocator<N, U1, R> + Allocator<N, U1, C> + Allocator<N, R, C> + Allocator<N, C, R> + Allocator<N, R, R> + Allocator<N, C, C> +
 Allocator<bool, R> + Allocator<bool, C> +
 Allocator<f32, R> + Allocator<f32, C> +
@@ -21,11 +26,12 @@ Allocator<i32, R> + Allocator<i32, C> +
 Allocator<f64, R> + Allocator<f64, C> +
 Allocator<u64, R> + Allocator<u64, C> +
 Allocator<i64, R> + Allocator<i64, C> +
-Allocator<i16, R> + Allocator<i16, C>
+Allocator<i16, R> + Allocator<i16, C> +
+Allocator<(usize, usize), R> + Allocator<(usize, usize), C>
 {
 }
 
-impl<N: Scalar, R: DimName, C: DimName, T>
+impl<N: Scalar, R: Dimension, C: Dimension, T>
     Alloc<N, R, C> for T
 where T: Allocator<N, R> + Allocator<N, C> + Allocator<N, U1, R> + Allocator<N, U1, C> + Allocator<N, R, C> + Allocator<N, C, R> + Allocator<N, R, R> + Allocator<N, C, C> +
          Allocator<bool, R> + Allocator<bool, C> +
@@ -35,5 +41,7 @@ where T: Allocator<N, R> + Allocator<N, C> + Allocator<N, U1, R> + Allocator<N,
          Allocator<f64, R> + Allocator<f64, C> +
          Allocator<u64, R> + Allocator<u64, C> +
          Allocator<i64, R> + Allocator<i64, C> +
-         Allocator<i16, R> + Allocator<i16, C> {
+         Allocator<i16, R> + Allocator<i16, C> +
+         Allocator<(usize, usize), R> + Allocator<(usize, usize), C>
+{
 }
\ No newline at end of file
diff --git a/nalgebra-glm/src/trigonometric.rs b/nalgebra-glm/src/trigonometric.rs
index 56c08d63..f590ce1a 100644
--- a/nalgebra-glm/src/trigonometric.rs
+++ b/nalgebra-glm/src/trigonometric.rs
@@ -1,73 +1,79 @@
-use na::{self, Real, DimName, DefaultAllocator};
+use na::{self, Real, DefaultAllocator};
 
 use aliases::Vec;
-use traits::Alloc;
+use traits::{Alloc, Dimension};
 
-pub fn acos<N: Real, D: DimName>(x: &Vec<N, D>) -> Vec<N, D>
+pub fn acos<N: Real, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     x.map(|e| e.acos())
 }
-pub fn acosh<N: Real, D: DimName>(x: &Vec<N, D>) -> Vec<N, D>
+
+pub fn acosh<N: Real, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     x.map(|e| e.acosh())
 }
-pub fn asin<N: Real, D: DimName>(x: &Vec<N, D>) -> Vec<N, D>
+
+pub fn asin<N: Real, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     x.map(|e| e.asin())
 }
-pub fn asinh<N: Real, D: DimName>(x: &Vec<N, D>) -> Vec<N, D>
+
+pub fn asinh<N: Real, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     x.map(|e| e.asinh())
 }
-pub fn atan2<N: Real, D: DimName>(y: &Vec<N, D>, x: &Vec<N, D>) -> Vec<N, D>
+
+pub fn atan2<N: Real, D: Dimension>(y: &Vec<N, D>, x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     y.zip_map(x, |y, x| y.atan2(x))
 }
-pub fn atan<N: Real, D: DimName>(y_over_x: &Vec<N, D>) -> Vec<N, D>
+
+pub fn atan<N: Real, D: Dimension>(y_over_x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     y_over_x.map(|e| e.atan())
 }
-pub fn atanh<N: Real, D: DimName>(x: &Vec<N, D>) -> Vec<N, D>
+
+pub fn atanh<N: Real, D: Dimension>(x: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     x.map(|e| e.atanh())
 }
 
-pub fn cos<N: Real, D: DimName>(angle: &Vec<N, D>) -> Vec<N, D>
+pub fn cos<N: Real, D: Dimension>(angle: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     angle.map(|e| e.cos())
 }
 
-pub fn cosh<N: Real, D: DimName>(angle: &Vec<N, D>) -> Vec<N, D>
+pub fn cosh<N: Real, D: Dimension>(angle: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     angle.map(|e| e.cosh())
 }
 
-pub fn degrees<N: Real, D: DimName>(radians: &Vec<N, D>) -> Vec<N, D>
+pub fn degrees<N: Real, D: Dimension>(radians: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     radians.map(|e| e * na::convert(180.0) / N::pi())
 }
 
-pub fn radians<N: Real, D: DimName>(degrees: &Vec<N, D>) -> Vec<N, D>
+pub fn radians<N: Real, D: Dimension>(degrees: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     degrees.map(|e| e * N::pi() / na::convert(180.0))
 }
 
-pub fn sin<N: Real, D: DimName>(angle: &Vec<N, D>) -> Vec<N, D>
+pub fn sin<N: Real, D: Dimension>(angle: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     angle.map(|e| e.sin())
 }
 
-pub fn sinh<N: Real, D: DimName>(angle: &Vec<N, D>) -> Vec<N, D>
+pub fn sinh<N: Real, D: Dimension>(angle: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     angle.map(|e| e.sinh())
 }
 
-pub fn tan<N: Real, D: DimName>(angle: &Vec<N, D>) -> Vec<N, D>
+pub fn tan<N: Real, D: Dimension>(angle: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     angle.map(|e| e.tan())
 }
 
-pub fn tanh<N: Real, D: DimName>(angle: &Vec<N, D>) -> Vec<N, D>
+pub fn tanh<N: Real, D: Dimension>(angle: &Vec<N, D>) -> Vec<N, D>
     where DefaultAllocator: Alloc<N, D> {
     angle.map(|e| e.tanh())
-}
\ No newline at end of file
+}
diff --git a/nalgebra-glm/src/vector_relational.rs b/nalgebra-glm/src/vector_relational.rs
index 28c979ae..ae1a2a2e 100644
--- a/nalgebra-glm/src/vector_relational.rs
+++ b/nalgebra-glm/src/vector_relational.rs
@@ -1,50 +1,50 @@
-use na::{self, Real, DimName, DefaultAllocator};
+use na::{self, Real, DefaultAllocator};
 
 use aliases::Vec;
-use traits::{Number, Alloc};
+use traits::{Number, Alloc, Dimension};
 
 
-pub fn all<D: DimName>(v: &Vec<bool, D>) -> bool
+pub fn all<D: Dimension>(v: &Vec<bool, D>) -> bool
     where DefaultAllocator: Alloc<bool, D> {
     v.iter().all(|x| *x)
 }
 
-pub fn any<D: DimName>(v: &Vec<bool, D>) -> bool
+pub fn any<D: Dimension>(v: &Vec<bool, D>) -> bool
     where DefaultAllocator: Alloc<bool, D> {
     v.iter().any(|x| *x)
 }
 
-pub fn equal<N: Number, D: DimName>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<bool, D>
+pub fn equal<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<bool, D>
     where DefaultAllocator: Alloc<N, D> {
     x.zip_map(y, |x, y| x == y)
 }
 
-pub fn greaterThan<N: Number, D: DimName>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<bool, D>
+pub fn greater_than<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<bool, D>
     where DefaultAllocator: Alloc<N, D> {
     x.zip_map(y, |x, y| x > y)
 }
 
-pub fn greaterThanEqual<N: Number, D: DimName>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<bool, D>
+pub fn greater_than_equal<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<bool, D>
     where DefaultAllocator: Alloc<N, D> {
     x.zip_map(y, |x, y| x >= y)
 }
 
-pub fn lessThan<N: Number, D: DimName>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<bool, D>
+pub fn less_than<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<bool, D>
     where DefaultAllocator: Alloc<N, D> {
     x.zip_map(y, |x, y| x < y)
 }
 
-pub fn lessThanEqual<N: Number, D: DimName>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<bool, D>
+pub fn less_than_equal<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<bool, D>
     where DefaultAllocator: Alloc<N, D> {
     x.zip_map(y, |x, y| x <= y)
 }
 
-pub fn not<D: DimName>(v: &Vec<bool, D>) -> Vec<bool, D>
+pub fn not<D: Dimension>(v: &Vec<bool, D>) -> Vec<bool, D>
     where DefaultAllocator: Alloc<bool, D> {
     v.map(|x| !x)
 }
 
-pub fn notEqual<N: Number, D: DimName>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<bool, D>
+pub fn not_equal<N: Number, D: Dimension>(x: &Vec<N, D>, y: &Vec<N, D>) -> Vec<bool, D>
     where DefaultAllocator: Alloc<N, D> {
     x.zip_map(y, |x, y| x != y)
 }